Control apparatus for motor vehicle and storage medium

Abstract

A control apparatus for a motor vehicle is provided in which each of a plurality of output values of the vehicle varies depending upon a plurality of input control parameters for controlling the vehicle. The control apparatus changes the input control parameter or parameters so that each of the output values becomes substantially equal to a corresponding target output value. The control apparatus then determines adapted values of the input control parameters, based on values of the input control parameters obtained when each of the output values becomes substantially equal to the corresponding target output value or falls within a permissible adaptation range of the target output value.

1. A control apparatus for a motor vehicle, in which each of a plurality of output values of the vehicle varies depending upon a plurality of input control parameters for controlling the vehicle, comprising:
 an adaptive control unit that changes the plurality of input control parameters so that each of the plurality of output values becomes substantially equal to a corresponding target output value;  
 an adapted value setting unit that determines adapted values of the input control parameters, based on values of the input control parameters obtained when each of the output values becomes substantially equal to the corresponding target output value or falls within a permissible adaptation range of the target output value,  
 an output value acquiring unit that acquires the output values of the vehicle, and  
 a vehicle model that receives the input control parameters and generates estimated output values of an actual vehicle,  
 wherein the output value acquiring unit acquires the estimated output values from the vehicle model, as the output values of the vehicle and wherein the vehicle is controlled based on the adapted values of the input control parameters that are determined by the adapted value setting unit, a combination of each of the output values and at least one of the input control parameters suitable for adaptive control with respect to the each output value is established, and the at least one of the input control parameters that is in combination with the each output value is changed so that the each output value becomes substantially equal to the corresponding target output value or falls within the permissible adaptation range of the target output value, wherein the output values of the vehicle comprise output values of an internal combustion engine, the output values of the internal combustion engine include at least two of output torque, fuel economy and amounts of exhaust emissions of the engine, and the input control parameters comprise input control parameters for the internal combustion engine.  
 
   
   
     2. A control apparatus according to  claim 1 , wherein the input control parameters include at least a fuel injection amount and fuel injection timing. 
   
   
     3. A control apparatus for a motor vehicle, in which each of a plurality of output values of the vehicle varies depending upon a plurality of input control parameters for controlling the vehicle, comprising:
 an adaptive control unit that changes the plurality of input control parameters so that each of the plurality of output values becomes substantially equal to a corresponding target output value;  
 an adapted value setting unit that determines adapted values of the input control parameters, based on values of the input control parameters obtained when each of the output values becomes substantially equal to the corresponding target output value or falls within a permissible adaptation range of the target output value,  
 an output value acquiring unit that acquires the output values of the vehicle, and  
 a vehicle model that receives the input control parameters and generates estimated output values of an actual vehicle,  
 wherein the output value acquiring unit acquires the estimated output values from the vehicle model, as the output values of the vehicle and wherein the vehicle is controlled based on the adapted values of the input control parameters that are determined by the adapted value setting unit, a combination of each of the output values and at least one of the input control parameters suitable for adaptive control with respect to the each output value is established, and the at least one of the input control parameters that is in combination with the each output value is changed so that the each output value becomes substantially equal to the corresponding target output value or falls within the permissible adaptation range of the target output value, and wherein the combination is a combination of a selected one of the input control parameters and a selected one of the output values that changes with high sensitivity in response to a change in the selected one of the input control parameters, and wherein the selected one of the input control parameters is fuel injection timing, and the selected one of the output values is fuel economy.  
 
   
   
     4. A control apparatus for a motor vehicle, in which each of a plurality of output values of the vehicle varies depending upon a plurality of input control parameters for controlling the vehicle, comprising:
 an adaptive control unit that changes the plurality of input control parameters so that each of the plurality of output values becomes substantially equal to a corresponding target output value;  
 an adapted value setting unit that determines adapted values of the input control parameters, based on values of the input control parameters obtained when each of the output values becomes substantially equal to the corresponding target output value or falls within a permissible adaptation range of the target output value,  
 an output value acquiring unit that acquires the output values of the vehicle, and  
 a vehicle model that receives the input control parameters and generates estimated output values of an actual vehicle,  
 wherein the output value acquiring unit acquires the estimated output values from the vehicle model, as the output values of the vehicle and wherein the vehicle is controlled based on the adapted values of the input control parameters that are determined by the adapted value setting unit, a combination of each of the output values and at least one of the input control parameters suitable for adaptive control with respect to the each output value is established, and the at least one of the input control parameters that is in combination with the each output value is changed so that the each output value becomes substantially equal to the corresponding target output value or falls within the permissible adaptation range of the target output value, and wherein the combination is a combination of a selected one of the input control parameters and a selected one of the output values that changes with high sensitivity in response to a change in the selected one of the input control parameters, and wherein the selected one of the input control parameters is an oxygen concentration in intake gas supplied into a combustion chamber, and the selected one of the output values is an amount of NOx discharged from the combustion chamber.  
 
   
   
     5. A control apparatus for a motor vehicle, in which each of a plurality of output values of the vehicle varies depending upon a plurality of input control parameters for controlling the vehicle, comprising:
 an adaptive control unit that changes the plurality of input control parameters so that each of the plurality of output values becomes substantially equal to a corresponding target output value;  
 an adapted value setting unit that determines adapted values of the input control parameters, based on values of the input control parameters obtained when each of the output values becomes substantially equal to the corresponding target output value or falls within a permissible adaptation range of the target output value, an output value acquiring unit that acquires the output values of the vehicle, and  
 a vehicle model that receives the input control parameters and generates estimated output values of an actual vehicle,  
 wherein the output value acquiring unit acquires the estimated output values from the vehicle model, as the output values of the vehicle and wherein the vehicle is controlled based on the adapted values of the input control parameters that are determined by the adapted value setting unit, a combination of each of the output values and at least one of the input control parameters suitable for adaptive control with respect to the each output value is established, and the at least one of the input control parameters that is in combination with the each output value is changed so that the each output value becomes substantially equal to the corresponding target output value or falls within the permissible adaptation range of the target output value, and wherein the combination is a combination of a selected one of the input control parameters and a selected one of the output values that changes with high sensitivity in response to a change in the selected one of the input control parameters, and wherein the selected one of the input control parameters is an amount of fuel injected upon pilot injection performed prior to main fuel injection, and the selected one of the output values is combustion noise.  
 
   
   
     6. A control apparatus according to  claim 1 , wherein the combination is a combination of a selected one of the output values and a plurality of selected ones of the input control parameters, and wherein the selected ones of the input control parameters that are in combination with the selected one of the output values are changed so that each of the output values becomes substantially equal to the corresponding target output value or falls within the permissible adaptation range of the target output value. 
   
   
     7. A control apparatus according to  claim 1 , wherein the respective input control parameters are simultaneously feedback-controlled so that each of the output values that is in combination with the at least one of the input control parameters becomes substantially equal to the corresponding target output value, whereby the adapted value setting unit determines the adapted values of the input control parameters. 
   
   
     8. A control apparatus according to a  claim 7 , wherein a relationship between a selected one of the input control parameters and a selected one of the output values that is in combination with the selected one of the input control parameters is represented by a sensitivity function, and the selected one of the input control parameters is feedback-controlled in accordance with the sensitivity obtained from the sensitivity function. 
   
   
     9. A control apparatus according to  claim 8 , wherein the sensitivity function is determined by learning based on changes in the selected one of the output values with respect to the selected one of the input control parameters. 
   
   
     10. A control apparatus according to  claim 7 , wherein a selected one of the input control parameters and a selected one of the output values that is in combination with the selected one of the input control parameters are proportional to each other. 
   
   
     11. A control apparatus according to  claim 1 , wherein the output value acquiring unit acquires output values detected in an actual vehicle, as the output values of the vehicle. 
   
   
     12. A control apparatus according to  claim 1 , wherein the vehicle model is modified based on the estimated output values of the vehicle model and output values detected in the actual vehicle, so that the estimated output values of the vehicle model substantially coincide with the output values detected in the actual vehicle. 
   
   
     13. A control apparatus according to  claim 1 , wherein the vehicle model is replaceable by another vehicle model suitable for a vehicle to be controlled. 
   
   
     14. A control apparatus according to  claim 13 , wherein the vehicle model is stored in a replaceable storage medium. 
   
   
     15. A control apparatus according to  claim 13 , wherein the vehicle model is constructed by receiving specifications data of the vehicle to be controlled, and the specifications data is stored in a replaceable storage medium. 
   
   
     16. A control apparatus according to  claim 1 , wherein a combination between each of the estimated output values of the vehicle model and at least one of the input control parameters suitable for adaptive control with respect to the each estimated output value is established; and when any one of the estimated output values of the vehicle model is out of a permissible adaptation range of a corresponding target output value, it is judged that an error occurs in an engine control portion associated with the at least one of the input control parameters that is in combination with the estimated output value. 
   
   
     17. A control apparatus according to  claim 1 , wherein the adaptive control unit always performs adaptive control of the input control parameters. 
   
   
     18. A control apparatus according to  claim 1 , wherein the adaptive control unit performs adaptive control of the input control parameters as needed. 
   
   
     19. A control apparatus according to  claim 1 , wherein the adaptive control unit performs adaptive control of the input control parameters within a limited computing time. 
   
   
     20. A control apparatus according to  claim 19 , wherein it is judged that an error occurs in a control system when the output values of the vehicle fail to be equal to the corresponding target output values or fail to be within the permissible adaptation ranges of the target output values within the limited computing time. 
   
   
     21. A control apparatus according to  claim 19 , further comprising:
 a storage unit that temporarily stores the input control parameters obtained when the output values of the vehicle become substantially equal to the corresponding target output values or fall within the permissible adaptation ranges of the target output values while the vehicle is in a certain operating state, as normal input control parameters in the certain operating state,  
 wherein the stored normal input control parameters are used as the input control parameters to be feedback-controlled when the vehicle is in the certain operating state, if the output values of the vehicle fail to be within the permissible adaptation ranges of the target output values within the limited computing time.  
 
   
   
     22. A control apparatus for a motor vehicle, in which each of a plurality of output values of the vehicle varies depending upon a plurality of input control parameters for controlling the vehicle, comprising:
 an adaptive control unit that changes the plurality of input control parameters so that each of the plurality of output values becomes substantially equal to a corresponding target output value;  
 an adapted value setting unit that determines adapted values of the input control parameters, based on values of the input control parameters obtained when each of the output values becomes substantially equal to the corresponding target output value or falls within a permissible adaptation range of the target output value,  
 an output value acquiring unit that acquires the output values of the vehicle,  
 a vehicle model that receives the input control parameters and generates estimated output values of an actual vehicle,  
 wherein the output value acquiring unit acquires the estimated output values from the vehicle model, as the output values of the vehicle and wherein the vehicle is controlled based on the adapted values of the input control parameters that are determined by the adapted value setting unit, a combination of each of the output values and at least one of the input control parameters suitable for adaptive control with respect to the each output value is established, and the at least one of the input control parameters that is in combination with the each output value is changed so that the each output value becomes substantially equal to the corresponding target output value or falls within the permissible adaptation range of the target output value;  
 a target output value setting unit that sets the target output values, wherein the target output values include at least two of target values of engine output torque, fuel economy, and amounts of exhaust emissions of an internal combustion engine.  
 
   
   
     23. A control apparatus according to  claim 22 , wherein the amounts of the emissions include an amount of NOx discharged from a combustion chamber of the engine. 
   
   
     24. A control apparatus according to  claim 22 , wherein each of at least one of the target output values is set to different values depending upon an operating state of the internal combustion engine. 
   
   
     25. A control apparatus according to  claim 24 , wherein the operating state of the engine comprises at least one of a demanded torque of the engine and an engine speed. 
   
   
     26. A control apparatus according to  claim 22 , further comprising a memory in which at least a part of the target output values is stored in advance. 
   
   
     27. A control apparatus according to  claim 22 , wherein at least a part of the target output values is calculated based on specifications data of the vehicle. 
   
   
     28. A control apparatus for a motor vehicle, in which each of a plurality of output values of the vehicle varies depending upon a plurality of input control parameters for controlling the vehicle, comprising:
 an adaptive control unit that changes the plurality of input control parameters so that each of the plurality of output values becomes substantially equal to a corresponding target output value;  
 an adapted value setting unit that determines adapted values of the input control parameters, based on values of the input control parameters obtained when each of the output values becomes substantially equal to the corresponding target output value or falls within a permissible adaptation range of the target output value,  
 an output value acquiring unit that acquires the output values of the vehicle,  
 a vehicle model that receives the input control parameters and generates estimated output values of an actual vehicle,  
 wherein the output value acquiring unit acquires the estimated output values from the vehicle model, as the output values of the vehicle and wherein the vehicle is controlled based on the adapted values of the input control parameters that are determined by the adapted value setting unit, a combination of each of the output values and at least one of the input control parameters suitable for adaptive control with respect to the each output value is established, and the at least one of the input control parameters that is in combination with the each output value is changed so that the each output value becomes substantially equal to the corresponding target output value or falls within the permissible adaptation range of the target output value;  
 a target output value setting unit that sets the target output values, wherein at least a part of the target output values is calculated based on specifications data of the vehicle;  
 a vehicle model that receives the input control parameters and generates estimated output values of an actual vehicle,  
 wherein a frequency of use of engine operating points defined by an operating state of the engine is obtained by using the vehicle model that causes the vehicle to run in a predetermined driving mode, and the target output values are calculated using the frequency of use.  
 
   
   
     29. A control apparatus according to  claim 28 , wherein the driving mode is stored in a replaceable storage medium. 
   
   
     30. A control apparatus according to  claim 28 , wherein the driving mode is received from an outside of the vehicle by a communications device. 
   
   
     31. A control apparatus according to  claim 22 , wherein at least a part of the target output values is stored in a replaceable storage medium. 
   
   
     32. A control apparatus according to  claim 22 , wherein at least a part of the target output values is received from an outside of the vehicle by a communications device. 
   
   
     33. A control apparatus according to  claim 1 , further comprising an evaluating unit that determines whether each of the output values is within the permissible adaptation range of the corresponding target output value. 
   
   
     34. A control apparatus according to  claim 33 , wherein the evaluating unit determines that the each output value is within the permissible adaptation range of the target output value when a difference between the each output value and the corresponding target output value is smaller than a corresponding reference value, or when a relationship among differences between the output values and the corresponding target output values satisfies a predetermined condition. 
   
   
     35. A control apparatus according to  claim 33 , wherein the evaluating unit establishes an evaluation function with respect to each of the output values, the evaluation function being designed such that an evaluation point reaches a maximum thereof when the output value is equal to the target output value, and
 the evaluating unit determines whether the each output value is within the permissible adaptation range of the corresponding target output value, based on the evaluation point for the each output value.  
 
   
   
     36. A control apparatus according to  claim 35 , wherein the evaluating unit determines that the each output value is within the permissible adaptation range of the corresponding target output value, when the evaluation point for the each output value is larger than a reference value or when a relationship among the evaluation points for the respective output values satisfies a predetermined condition. 
   
   
     37. A control apparatus according to  claim 35 , wherein the evaluating unit establishes an evaluation function with respect to output torque of an internal combustion engine, the evaluation function for the output torque being designed such that the evaluation point reaches a maximum thereof when the output torque of the engine is equal to a target value thereof, and is rapidly reduced when the output torque deviates from the target value on either of larger-torque and smaller-torque sides. 
   
   
     38. A control apparatus according to  claim 35 , wherein the evaluating unit establishes an evaluation function with respect to an amount of NOx discharged from a combustion chamber of an international combustion engine, the evaluation function for the NOx amount being designed such that the evaluation point reaches a maximum thereof when the NOx amount is equal to or smaller than a target value thereof, and is reduced as the NOx amount exceeds the target value. 
   
   
     39. A control apparatus for a motor vehicle, in which each of a plurality of output values of the vehicle varies depending upon a plurality of input control parameters for controlling the vehicle, comprising:
 an adaptive control unit that changes the plurality of input control parameters so that each of the plurality of output values becomes substantially equal to a corresponding target output value;  
 an adapted value setting unit that determines adapted values of the input control parameters, based on values of the input control parameters obtained when each of the output values becomes substantially equal to the corresponding target output value or falls within a permissible adaptation range of the target output value,  
 an output value acquiring unit that acquires the output values of the vehicle,  
 a vehicle model that receives the input control parameters and generates estimated output values of an actual vehicle,  
 wherein the output value acquiring unit acquires the estimated output values from the vehicle model, as the output values of the vehicle and wherein the vehicle is controlled based on the adapted values of the input control parameters that are determined by the adapted value setting unit, a combination of each of the output values and at least one of the input control parameters suitable for adaptive control with respect to the each output value is established, and the at least one of the input control parameters that is in combination with the each output value is changed so that the each output value becomes substantially equal to the corresponding target output value or falls within the permissible adaptation range of the target output value;  
 an evaluating unit that determines whether each of the output values is within the permissible adaptation range of the corresponding target output value, wherein the evaluating unit establishes an evaluation function with respect to each of the output values, the evaluation function being designed such that an evaluation point reaches a maximum thereof when the output value is equal to the target output value, and the evaluating unit determines whether the each output value is within the permissible adaptation range of the corresponding target output value, based on the evaluation point for the each output value,  
 wherein the evaluating unit establishes an evaluation function with respect to an amount of NOx discharged from a combustion chamber of an internal combustion engine, the evaluation function for the NOx amount being designed such that the evaluation point reaches a maximum thereof when the NOx amount is equal to or smaller than a target value thereof, and is reduced as the NOx amount exceeds the target value, and  
 wherein the adaptive control unit changes at least one of the input control parameters associated with fuel economy so as to improve the fuel economy when the NOx amount is equal to or smaller than the target value.  
 
   
   
     40. A control apparatus for a motor vehicle, in which each of a plurality of output values of the vehicle varies depending upon a plurality of input control parameters for controlling the vehicle, comprising:
 an adaptive control unit that changes the plurality of input control parameters so that each of the plurality of output values becomes substantially equal to a corresponding target output value;  
 an adapted value setting unit that determines adapted values of the input control parameters, based on values of the input control parameters obtained when each of the output values becomes substantially equal to the corresponding target output value or falls within a permissible adaptation range of the target output value,  
 an output value acquiring unit that acquires the output values of the vehicle, and  
 a vehicle model that receives the input control parameters and generates estimated output values of an actual vehicle,  
 wherein the output value acquiring unit acquires the estimated output values from the vehicle model, as the output values of the vehicle and wherein the vehicle is controlled based on the adapted values of the input control parameters that are determined by the adapted value setting unit, a combination of each of the output values and at least one of the input control parameters suitable for adaptive control with respect to the each output value is established, and the at least one of the input control parameters that is in combination with the each output value is changed so that the each output value becomes substantially equal to the corresponding target output value or falls within the permissible adaptation range of the target output value;  
 an evaluating unit that determines whether each of the output values is within the permissible adaptation range of the corresponding target output value, wherein the evaluating unit establishes an evaluation function with respect to each of the output values, the evaluation function being designed such that an evaluation point reaches a maximum thereof when the output value is equal to the target output value, and the evaluating unit determines whether the each output value is within the permissible adaptation range of the corresponding target output value, based on the evaluation point for the each output value, and  
 wherein the evaluating unit establishes an evaluation function with respect to fuel economy, the evaluation function being designed such that the evaluation point decreases as the fuel economy deteriorates.  
 
   
   
     41. A control apparatus according to  claim 35 , wherein a combination of each output value of the vehicle and at least one of the input control parameters suitable for adaptive control with respect to the each output value is established; and when the evaluation point for one of the output values is lower than the evaluation point for another output value, the adaptive control unit changes the at least one input control parameter that is in combination with the output value having the lower evaluation point, before changing the at least one input control parameter that is in combination with the output value having the higher evaluation point. 
   
   
     42. A control apparatus for a motor vehicle, in which each of a plurality of output values of the vehicle varies depending upon a plurality of input control parameters for controlling the vehicle, comprising:
 an adaptive control unit that changes the plurality of input control parameters so that each of the plurality of output values becomes substantially equal to a corresponding target output value;  
 an adapted value setting unit that determines adapted values of the input control parameters, based on values of the input control parameters obtained when each of the output values becomes substantially equal to the corresponding target output value or falls within a permissible adaptation range of the target output value,  
 an output value acquiring unit that acquires the output values of the vehicle, and  
 a vehicle model that receives the input control parameters and generates estimated output values of an actual vehicle,  
 wherein the output value acquiring unit acquires the estimated output values from the vehicle model, as the output values of the vehicle and wherein the vehicle is controlled based on the adapted values of the input control parameters that are determined by the adapted value setting unit, a combination of each of the output values and at least one of the input control parameters suitable for adaptive control with respect to the each output value is established, and the at least one of the input control parameters that is in combination with the each output value is changed so that the each output value becomes substantially equal to the corresponding target output value or falls within the permissible adaptation range of the target output value;  
 an evaluating unit that determines whether each of the output values is within the permissible adaptation range of the corresponding target output value, wherein the evaluating unit establishes an evaluation function with respect to each of the output values, the evaluation function being designed such that an evaluation point reaches a maximum thereof when the output value is equal to the target output value, and the evaluating unit determines whether the each output value is within the permissible adaptation range of the corresponding target output value, based on the evaluation point for the each output value, and  
 wherein a combination of each output value of the vehicle and at least one of the input control parameters suitable for adaptive control with respect to the each output value is established;  
 the evaluation function for each of the output values includes an inclined portion along which the evaluation point decreases from a maximum thereof as the output value deviates from the corresponding target output value; and  
 the adaptive control unit performs feedback control of the input control parameters so that each of the output values approaches the corresponding target output value at a rate that increases with an increase in a degree of inclination of the inclined portion of the evaluation function for the output value.  
 
   
   
     43. A control apparatus according to  claim 1 , wherein the adaptive control unit changes at least one input parameter selected from the plurality of the input control parameters, so that a selected one of the output values, in preference to the other output values, is made close to the corresponding target output value. 
   
   
     44. A control apparatus according to  claim 43 , wherein the selected one of the output value changes depending upon an operation state of an internal combustion engine. 
   
   
     45. A control apparatus according to  claim 1 , wherein the adapted value setting units sets the adapted values of the input control parameter to such values of the input control parameters that are obtained when each of the output values becomes substantially equal to the corresponding target output value or falls within the permissible adaptation range of the target output value. 
   
   
     46. A storage medium storing a program that causes a computer to perform functions of a control apparatus for a motor vehicle, in which each of a plurality of output values of the vehicle varies depending upon a plurality of input control parameters for controlling the vehicle, the program including instructions that cause the computer to perform the steps of:
 changing the plurality of input control parameters so that each of the plurality of output values becomes substantially equal to a corresponding target output value;  
 determining adapted values of the input control parameters, based on values of the input control parameters obtained when each of the output values becomes substantially equal to the corresponding target output value or falls within a permissible adaptation range of the target output value,  
 acquiring the output values of the vehicle, and  
 receiving the input control parameters by a vehicle model, and generating estimated output values of an actual vehicle from the vehicle model,  
 wherein the output values of the vehicle are the estimated output values generated from the vehicle model, and wherein the vehicle is controlled based on the determined adapted values of the input control parameters, a combination of each of the output values and at least one of the input control parameters suitable for adaptive control with respect to the each output value is established, and the at least one of the input control parameters that is in combination with the each output value is changed so that the each output value becomes substantially equal to the corresponding target output value or falls within the permissible adaptation range of the target output value, wherein the output values of the vehicle comprise output values of an internal combustion engine, the output values of the internal combustion engine include at least two of output torque, fuel economy and amounts of exhaust emissions of the engine, and the input control parameters comprise input control parameters for the internal combustion engine.